Designing a Robust Low-Level Agnostic Controller for a Quadrotor with Actor-Critic Reinforcement Learning. (arXiv:2210.02964v1 [cs.RO])

Purpose: Real-life applications using quadrotors introduce a number of
disturbances and time-varying properties that pose a challenge to flight
controllers. We observed that, when a quadrotor is tasked with picking up and
dropping a payload, traditional PID and RL-based controllers found in
literature struggle to maintain flight after the vehicle changes its dynamics
due to interaction with this external object.

Methods: In this work, we introduce domain randomization during the training
phase of a low-level waypoint guidance controller based on …

actor-critic arxiv low reinforcement reinforcement learning